WO2009147920A1 - Parking support device - Google Patents
Parking support device Download PDFInfo
- Publication number
- WO2009147920A1 WO2009147920A1 PCT/JP2009/058688 JP2009058688W WO2009147920A1 WO 2009147920 A1 WO2009147920 A1 WO 2009147920A1 JP 2009058688 W JP2009058688 W JP 2009058688W WO 2009147920 A1 WO2009147920 A1 WO 2009147920A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- parking
- line
- turning
- width extension
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Definitions
- the present invention relates to a parking assistance device that assists the driving operation of the driver when the vehicle is parked.
- a parking assistance device that can reduce the burden on the driver when the vehicle is parked is known.
- a parking assist device a pair of rear prediction lines indicating a predicted trajectory of the rear end of the vehicle according to the rudder angle of the reversing vehicle, and the vehicle regardless of the rudder angle of the vehicle.
- Indicators such as a pair of vehicle width extension lines extending behind the vehicle are superimposed on the surrounding image of the vehicle photographed by the in-vehicle camera, and these indicators and voice support the driver's driving operation during parking.
- a parking assistance device is described.
- This invention is made in view of said subject, The objective is to provide the parking assistance apparatus which can support a driver
- a feature configuration of a parking assistance device includes an image acquisition unit that acquires a surrounding image of a vehicle imaged by an in-vehicle imaging device, and a vehicle interior that displays the surrounding image.
- An indicator including a pair of left and right vehicle width extension lines extending rearward of the vehicle to guide the driver during a parking operation by the driver according to the step of the driving operation,
- An index output unit for superimposing and displaying the image on a peripheral image, the vehicle turning the vehicle in a tandem direction while turning to the opposite side of the first turning step and the first turning step for retreating while turning and entering the parking area
- the indicator output unit superimposes and displays only the vehicle width extension line outside the turning of the vehicle width extension line in the second turning process. is there.
- another feature configuration includes an image acquisition unit that acquires a peripheral image of a vehicle imaged by an in-vehicle imaging device, an image display unit that is provided in a vehicle interior and displays the peripheral image, and a parking operation performed by a driver.
- an indicator including a vehicle width extension line extending rearward of the vehicle and a rear prediction line extending in a direction in which the vehicle travel is predicted is generated according to a driving operation process,
- a turn-back process that includes a marker output unit that is superimposed on the peripheral image, turns backward while turning and follows the vehicle in a parallel direction, and a straight-back process that linearly moves backward and enters the parking area
- the indicator output unit superimposes and displays only the rear prediction line among the rear prediction line and the vehicle width extension line in the turning backward process, and the front in the straight backward process. Only the vehicle width extension line of the vehicle width extension line and the backward expected line a lies in superimposed display.
- the turning and retreating process When performing parallel parking, in the turning and retreating process, it is necessary to move the vehicle backward while adjusting the steering angle so that the vehicle follows the parallel parking direction, and the driver grasps the relationship between the steering angle and the course of the vehicle. There is a need. For this reason, the turning and retreating process can be reliably performed by adjusting the steering angle while referring to the backward prediction line among the indices.
- the linear retreat process it is necessary to retreat the vehicle while confirming that the vehicle is within the parking area. For this reason, it is possible to reliably perform the linear retreat process by retreating the vehicle while referring to the vehicle width extension line among the indicators.
- Another characteristic configuration is that the index output unit switches the index to be superimposed and displayed based on the steering angle of the vehicle.
- the first turning process and the second turning process, or the turning backward process and the straight backward process described above can be identified by the difference in steering angle. For this reason, as in the present configuration, the index to be referred to in each step can be reliably displayed by switching the index to be superimposed and displayed based on the steering angle.
- the indicator output unit switches display of the rear prediction line and the vehicle width extension line based on a relative angle between the vehicle and a parking area line that partitions the parking area. is there.
- a parking area line is provided in the parking area when parallel parking is performed, and the relative angle between the vehicle and the parking area line changes before and after the turn-back process. Therefore, as in this configuration, by switching the display of the rear prediction line and the vehicle width extension line based on the relative angle with the vehicle area line, it is possible to reliably display the index to be referred to in each process. .
- the index output unit can be configured not to superimpose and display the vehicle width extension line inside the turn of the pair of left and right vehicle width extension lines.
- the driver can easily focus on the vehicle width extension line on the outside of the turn that is displayed in a superimposed manner, and the index to be referred to is clear for the driver. become.
- index is reduced among the surrounding images by reducing the parameter
- the index output unit can be configured to superimpose a rear prediction line extending in a direction in which the vehicle is predicted to travel.
- the driver can clearly grasp the positional relationship with an obstacle or the like existing around the vehicle moving backward. For this reason, the driver can adjust the parking position of the vehicle by operating the steering and the brake pedal as necessary.
- FIG. 1 and 2 show the basic configuration of the vehicle 30.
- FIG. The steering 24 provided in the driver's seat is interlocked with the power steering unit 33 and transmits the rotational operation force to the front wheels 28f to steer the vehicle 30.
- the front wheel 28f corresponds to the steering wheel of the present invention.
- An engine 32 and a speed change mechanism 34 having a torque converter, CVT, and the like that shift the power from the engine 32 and transmit the power to the front wheels 28f and the rear wheels 28r are arranged at the front of the vehicle body. Power is transmitted to the front wheel 28f and / or the rear wheel 28r according to the driving method of the vehicle 30 (front wheel drive, rear wheel drive, four wheel drive).
- an accelerator pedal 26 as an accelerator operating means for controlling the traveling speed
- a brake pedal 27 for applying a braking force to the front wheels 28f and the rear wheels 28r via the brake devices 31 for the front wheels 28f and the rear wheels 28r, are arranged in parallel.
- a monitor 20 (display device) having a touch panel 23 formed on the display unit 21 is provided.
- the monitor 20 is of a liquid crystal type provided with a backlight.
- the monitor 20 is provided with a speaker 22.
- the touch panel 23 is a pressure-sensitive type or an electrostatic type, and outputs a contact position of a finger or the like as location data.
- the touch panel 23 of the monitor 20 is used as an instruction input means for starting parking assistance.
- the monitor 20 is also used as a display device for the navigation system.
- the monitor 20 may be of a plasma display type or a CRT type, and the speaker 22 may be provided in another place such as the inside of a door.
- the touch panel 23 of the monitor 20 is not necessarily used as an instruction input means for the parking assistance device.
- Steering sensor 14 is provided in the operation system of steering 24, and the steering operation direction and the operation amount are measured.
- the operation system of the shift lever 25 is provided with a shift position sensor 15 to determine the shift position.
- the operation system of the accelerator pedal 26 is provided with an accelerator sensor 16 to measure an operation amount.
- the operating system of the brake pedal 27 is provided with a brake sensor 17, which detects the presence or absence of the operation.
- a rotation sensor 18 that measures the amount of rotation of at least one of the front wheel 28f and the rear wheel 28r is provided as a movement distance sensor.
- the transmission mechanism 34 may measure the movement amount of the vehicle 30 from the rotation amount of the drive system.
- the vehicle 30 is provided with an ECU (electronic control unit) 10 that is the core of the parking support device of the present invention and that performs traveling control including parking support.
- a camera 12 that captures a scene behind the vehicle 30 is provided at the rear of the vehicle 30.
- the camera 12 is a digital camera that incorporates an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS) and outputs information captured by the image sensor as moving image information in real time.
- the camera 12 includes a wide-angle lens and has a field angle of about 140 degrees on the left and right, for example.
- the camera 12 is installed with a depression angle of, for example, about 30 degrees toward the rear of the vehicle 30 and photographs a region up to about 8 m behind.
- the captured image is input to the ECU 10 and used for parking assistance or the like.
- the parking assist device of the present embodiment configured with the ECU 10 as the core is, for example, parking when performing parallel parking in a parking space E between two parked vehicles 40 (41 and 42).
- the vehicle 30 passes by the side of the parking space E, moves forward, turns back with turning back, and is parked in the parking space E.
- the ECU 10 calculates the guidance route of the vehicle 30 with the approximate center portion of the axle of the rear wheel 28r of the vehicle 30 as the reference point Q of the vehicle 30, and assists the parking operation in the parking space E.
- the ECU 10 advances from the point P1 to the point P2, starts to reverse from the point P2 that is the reverse start position, turns back the steering 24 at the point P3 that is the return position, and completes parking at the point P4 that is the parking target position. Assist in parallel parking.
- the ECU 10 guides from the reverse start position P2 to the parking target position P4 with the steering angle at the time of movement from the reverse start position P2 to the return position P3 and the steering angle at the time of movement from the reverse start position P3 to the parking target position P4 being constant. Calculate the route.
- the point A in the figure indicates a position where the vehicle 30 heading for the parking space E with a turn from the reverse start position P2 does not come into contact with an obstacle on the front side of the vehicle 30.
- the obstacle on the front side of the vehicle 30 is the parked vehicle 41, and the right rear end portion of the vehicle 41 adjacent to the vehicle 30 at the reverse start position P ⁇ b> 2 substantially corresponds to the point A.
- the ECU 10 calculates an appropriate position for the reverse start position P2 from the relationship with the point A so that contact with the parked vehicle 41 is avoided.
- FIG. 4 is a block diagram schematically showing a configuration example of the parking assistance apparatus according to the present invention having the ECU 10 as a core.
- the ECU 10 includes functional units such as a calculation unit 1, an image acquisition unit 2, a display control unit 3, and an index output unit 6.
- the calculation unit 1 is a functional unit that calculates the guidance route described above based on FIG. 3, and includes functional units such as a parking target setting unit 4 and a guidance unit 5.
- Each functional unit of the ECU 10 is realized by cooperation with software such as a program executed on the hardware, with logical operation hardware such as a microcomputer or DSP (digital signal processor) as a core. Therefore, each functional unit shows a sharing as a function and does not necessarily need to be physically configured independently.
- the ECU 10 also includes various memories such as a frame memory for storing images and various electronic circuits such as an image processing circuit. Since the configurations and functions of these various memories and various electronic circuits are known, illustration and detailed description thereof are omitted.
- the image acquisition unit 2 is a functional unit that acquires a peripheral image of the vehicle 30 photographed by the camera 12 (on-vehicle photographing device).
- the image acquisition unit 2 includes a frame memory for storing images, a synchronization separation circuit, and the like.
- the display control unit 3 is a functional unit that displays a peripheral image of the vehicle 30 captured by the camera 12 on a monitor 20 (display device) in the vehicle interior. Moreover, the display control part 3 superimposes the parameter
- the calculation unit 1 sets the parking target position P4 of the vehicle 30 and calculates the guide route to the parking target position P4.
- the parking target setting unit 4 included in the calculation unit 1 is a functional unit that sets the parking target position P ⁇ b> 4 of the vehicle 30.
- the guide part 5 which the calculating part 1 has is a function part which calculates the guide route to the parking target position P4.
- the calculation unit 1 receives detection results from the steering sensor 14, the shift position sensor 15, the accelerator sensor 16, the brake sensor 17, the rotation sensor 18, and the like, and based on the detection results of these sensors, the parking target position P4 and the guidance route Is calculated.
- the vehicle 30 When the parking assistance device is used, the vehicle 30 is parked at the parking target position P4 according to the guidance route by the driver's operation in multiple steps.
- the index output unit 6 generates an index for guiding the driver according to the process, and displays the index on the surrounding image via the display control unit 3.
- the lateral distance between the parking space E and the vehicle 30 may vary depending on the driver.
- the geometric relationship between the reverse start position P2 and the parking space E in the front-rear direction of the vehicle 30 is adjusted to an appropriate position by the first step. Since the geometric relationship between the backward start position P2 and the parking space E in the left-right direction of the vehicle 30 varies depending on the driver, it is adjusted in the second step. Since the parking area line c is set in the parking space E in the second step, the ECU 10 can determine the parking target position P4. When the reverse start position P2 and the parking target position P4 are determined, the ECU 10 can determine the guidance route and the return position P3.
- the setting of the reverse start position P2, the parking target position P4 (parking area line c), the guidance route, and the switching position P3 in the first step and the second step is performed with the parking target setting unit 4 and the guidance unit 5 It is carried out by collaboration.
- the guide route or the switching position may be set, or vice versa. That is, you may set the parking target position P4, calculating the position which can be induced
- FIG. 5C shows a state in which the vehicle 30 has completed or has completed the reverse operation performed while maintaining the rudder angle set in the second step, that is, has reached the turn-back position P3 or its vicinity.
- FIG. 5C shows a process involving a driving operation in which the driver moves the vehicle 30 backward between the reverse start position P2 and the switching back position P3.
- [Fourth step] The driver holds the rudder angle set in the second step while referring to the turning line d, and stops the vehicle 30 when moving backward to a predetermined position (turning position P3) as shown in FIG. 5 (d). Specifically, when the return line d moves backward to the far side of the parking area line c, that is, the position reaching the road shoulder, the driver steps on the brake pedal 27 to stop the vehicle 30.
- the third step and the fourth step correspond to the first turning step of the present invention.
- the fifth step corresponds to the second turning step of the present invention.
- the backward prediction line g extends in the direction in which the vehicle 30 is predicted to travel, and the direction in which the vehicle 30 is predicted to travel can be determined by, for example, the steering angle of the steering 24.
- the vehicle 30 is parked in parallel in the parking space E through the above steps.
- the driver operates the steering 24 and the like to move the vehicle 30.
- the steering 24 can be returned to the neutral position by operating the steering 24 so that both indicators overlap.
- the peripheral image is mirrored on the display screen of the monitor 20 shown in FIGS.
- the peripheral image is an image according to the shooting direction of the camera 12, and is substantially equivalent to, for example, an image viewed by the driver looking back.
- the monitor 20 since the monitor 20 is arranged in front of the driver, the driver sees a rear peripheral image displayed on the monitor 20 facing forward. Accordingly, the peripheral image is displayed as a mirror image so that the actual direction of the parking space E matches the direction of the parking space E on the display screen in the left-right direction of the driver.
- the driver advances forward from the reverse start position P2 shown in FIG. 3 and stops with a margin in the lateral direction with respect to the parked vehicle 41 that is an obstacle. Then, the driver operates the touch panel 22 of the monitor 20 to start parking support for parallel parking, and operates the shift lever 25 to change the shift to reverse. Note that either the operation of the touch panel 22 or the operation of the shift lever 25 may be performed first. Further, when a parking assistance start switch is provided at a location different from the touch panel 22, parking assistance is started by operating the switch. In this embodiment, “start parking support for parallel parking” is used. However, it may be simply “start parking support” or may be configured to select parallel parking by another operation.
- FIG. 6 shows the state of the display unit 21 of the monitor 20 in the above state, that is, when the vehicle 30 stops slightly ahead of the reverse start position P2, the shift lever 25 is changed to reverse, and parking assistance is started.
- An example is shown. That is, FIG. 6 shows a state immediately before the first step described above.
- the ECU 10 When the ECU 10 receives a detection result indicating that the shift lever 25 has been changed to reverse from the shift lever sensor 15, the ECU 10 displays the peripheral image captured by the camera 12 on the display unit 21 of the monitor 20 via the display control unit 3. Display. At this time, the backward prediction line g drawn by the index output unit 6 is superimposed on the surrounding image via the display control unit 3.
- the backward prediction line g is an index indicating a predicted trajectory of the rear end of the vehicle 30 according to the steering angle of the vehicle 30 moving backward.
- the steering 24 is in the neutral position
- the rear prediction line g is superimposed directly behind the vehicle 30. .
- the rear prediction line g includes a rear end prediction trajectory line g1 indicating a prediction trajectory at the rear end of the vehicle 30 and distance guide lines g2, g3, and g4 behind the vehicle 30.
- the distance guide line is a 5 m guide line g2, a 3 m guide line g3, and a 1 m caution line g4.
- the backward prediction line g is basically drawn in yellow.
- the 1 m caution line g4 and the rear end predicted trajectory line g5 closer to the vehicle 30 than the g4 are drawn in red to alert the driver.
- the superimposition of the backward prediction line g is performed in order to notify the driver that the ECU 10 has started parking assistance, and is erased after a predetermined time of about 2 to 5 seconds, for example. Then, another index “a” to be described later is newly superimposed.
- the ECU 10 issues a voice guidance such as “Start parking support for parallel parking. Back until the vertical guide line meets the rear end of the adjacent vehicle” via the speaker 23. At this time, an indicator a and an indicator b as shown in FIG. An index a perpendicular to the road and a horizontal index b indicating the road side of the parking space E are superimposed on the surrounding image.
- the vertical index a cannot be adjusted to a suitable position by the reverse. In that case, the driver adjusts the vertical index a by operating the touch panel 23 and the shift lever 25 again after moving the vehicle 30 forward once.
- the ECU 10 determines that the first step is completed when a predetermined time of, for example, 3 to 5 seconds elapses after the vehicle 30 is retreated and stopped based on the vertical index a.
- a predetermined time for example, 3 to 5 seconds elapses after the vehicle 30 is retreated and stopped based on the vertical index a.
- the ECU 10 detects that the steering 24 has been operated, the ECU 10 determines that the first step has been completed.
- a rectangular index c is superimposed on the peripheral image.
- the index c indicates the parking area line of the vehicle 30 that falls within the parking space E, and is displayed in blue.
- the guidance based on the vertical index a is completed, the steering 24 of the vehicle 30 is in the neutral position. For this reason, at the start of the second step, the parking area line c is drawn at the center of the peripheral image, that is, almost directly behind the vehicle 30.
- FIG. 9 also shows a display example of the display unit 21 in the second step, and shows a state where the parking area line c is aligned with the parking space E by the operation of the steering 24.
- the ECU 10 determines that the parking area line c is aligned with the parking space E. Then, as shown in FIG. 10, a new index d (cutback line) is superimposed on the peripheral image.
- the cut-back line d is an index that serves as a guideline for the vehicle 30 to move backward while maintaining the steering angle set in the second step, and is displayed in blue.
- This turning line d coincides with a part of the rear end predicted locus line g1, and shows the predicted locus of the vehicle 30 when the steering 24 is turned back to the substantially maximum steering angle.
- the cut-back line d is drawn in an arc shape and is guided to move the vehicle 30 backward until it contacts the back side of the parking area line c, that is, the side c1 of the parking area line c shown in FIGS. .
- the ECU 10 does not wait for the predetermined time to elapse. Is completed and the process moves to the third step.
- the ECU 10 When proceeding to the third step, the ECU 10 performs voice guidance such as “Please hold the steering wheel and move backward until the indicator contacts the road shoulder” via the speaker 23. When the vehicle 30 starts to move backward and a certain time elapses, the ECU 10 determines that the third step is completed, and shifts to the process of the fourth step.
- the parking area line c is deleted as shown in FIG.
- the driver follows the guidance, as shown in FIG. 12, retracts the vehicle 30 until the road shoulder, that is, the side c1 of the parking area line c, and the turn-back line d that is an arcuate index come into contact, and stops the vehicle 30. .
- the vehicle 30 is guided to the position P3 shown in FIG.
- the ECU 10 determines that the fourth step is completed. Then, the guidance of the fifth step is started, and voice guidance such as “When the indicator touches the shoulder of the road, turn the steering wheel back in the opposite direction” is performed. If the driver immediately starts operating the steering 24 in the opposite direction after stopping the vehicle 30, the ECU 10 determines that the fourth step has been completed without waiting for the predetermined time to elapse.
- FIG. 13 shows the display on the display unit 21 after the steering 24 is turned back in the reverse direction by the driver in the fifth step.
- the ECU 10 superimposes a vehicle rear line e, which is a new index, on the surrounding image as shown in FIG.
- the vehicle rear line e is an index indicating a predetermined position behind the vehicle 30 regardless of the steering angle of the vehicle 30. Therefore, it is superimposed on a fixed predetermined position in the peripheral image due to the optical relationship with the camera 12 installed in the vehicle 30.
- the vehicle rear line e is composed of a pair of left and right vehicle width extension lines e1, a 1 m guide line e2 as a distance guide line, and the like (see FIG. 21).
- the width extension line e1 and the 1m reference line are not superimposed, and only the vehicle width extension line e1 on the outside of the turn, that is, the road shoulder side is displayed and superimposed. Further, as described above, the vehicle rear line e is displayed at a fixed predetermined position in the predetermined image, but the vehicle width extension line e1 is displayed when the steering 24 is in a neutral state regardless of the state of the steering 24. It is an indicator line.
- the ECU 10 further performs voice guidance such as “hold the steering wheel and move backward until the indicator contacts the road shoulder” via the speaker 23.
- the driver moves the vehicle 30 backward so that the vehicle width extension line e1 outside the turn is substantially parallel to the road shoulder of the parking space E.
- the brake pedal 27 is operated to stop the vehicle 30.
- the ECU 10 determines that the guidance of the vehicle 30 has been completed when a predetermined time of 3 to 5 seconds elapses after the vehicle 30 is stopped. Then, the ECU 10 performs voice guidance such as “End guidance” via the speaker 23 and ends parking assistance.
- the prediction line g may be superimposed on the surrounding image.
- the rearward prediction line g is an index indicating the rear end predicted locus of the vehicle 30 according to the steering angle of the vehicle 30 moving backward.
- the backward prediction line g is drawn in a greatly curved state.
- FIG. 17A is a process diagram showing the first process
- FIG. 18 is a diagram showing the monitor 20 in the first process.
- the driver advances the vehicle 30 obliquely forward so that the parking space E enters the shooting range F of the camera 12 installed behind the vehicle 30. Stop.
- the steering angle of the vehicle 30 is preferably returned to the neutral position.
- the calculation unit 1A detects the parking space E by recognizing the parking area line W, and sets the parking target position P4.
- the parking target position P4 can be finely adjusted by the driver.
- An indicator c indicating a parking area line is superimposed on the monitor 20 as a display linked to the parking target position P4, and the driver finely adjusts the parking area line c by moving the parking area line c via the touch panel 23 or the like.
- an adjustment arrow H is superimposed on the screen of the monitor 21. This arrow H is interlocked with the touch panel 23, and the position of the parking area line c can be adjusted based on an operation instruction from the driver.
- the driver operates the touch panel 23 and the like to determine the parking target position (in this example, the position of the parking area line c).
- the driver changes the shift lever 25 to reverse according to the voice guidance issued from the speaker 22.
- FIG. 17B is a process diagram showing the second process
- FIG. 19 is a diagram showing the monitor 20 in the second process.
- the backward prediction line g is superimposed on the surrounding image.
- the rearward prediction line g is an index indicating the rear end predicted locus of the vehicle 30 according to the steering angle of the vehicle 30 moving backward.
- the driver steers the steering wheel 24 while referring to the backward prediction line g, turns the vehicle backward while turning the vehicle 30, and brings the vehicle 30 along the parking area line W.
- FIG. 19 shows the monitor 20 after the steering 24 is steered, and the backward prediction line g is drawn in a greatly curved state.
- the second step corresponds to the turning backward step of the present invention.
- FIG. 17C is a process diagram at the end of the second process
- FIG. 20 is a diagram showing the monitor 20 at the end of the second process.
- the vehicle 30 is in a state along the parking area line W.
- the display is switched to the monitor display shown in FIG. 21, so that the vehicle 30 is along the parking area line W and the rear prediction line g is displayed as shown in FIG.
- the monitor display is actually displayed only momentarily.
- the transition from the second process to the third process is performed based on the relative angle between the vehicle 30 and the parking area line W.
- the ECU 10 may calculate the relative angle between the vehicle 30 and the parking area line W by image recognition as needed, and when the vehicle 30 follows the parking area line W, the ECU 10 may move from the second process to the third process. Further, for example, when the vehicle 30 is along the parking area line W by sequentially calculating the change in the relative angle between the vehicle 30 and the parking area line W due to the backward movement of the vehicle 30 with respect to the target parking position set in advance by the user before the backward movement. The process may be shifted from the second process to the third process.
- the second process when the vehicle 30 is along the parking area line W, the second process is shifted to the third process, and the second process may be shifted to the third process regardless of the steering state of the steering 24. If comprised in this way, while it transfers to a 3rd process during the turning in a 2nd process, and it switches to the monitor display of FIG. 21 so that it may mention later, it informs a driver
- FIG. 17D is a diagram showing a process diagram of the third process
- FIG. 21 is a diagram showing the monitor 20 in the third process.
- the vehicle rear line e is displayed in a superimposed manner.
- the vehicle rear line e is an index indicating a predetermined position behind the vehicle 30 regardless of the steering angle of the vehicle 30. Therefore, it is superimposed on a fixed predetermined position in the peripheral image due to the optical relationship with the camera 12 installed in the vehicle 30.
- the vehicle rear line e is composed of a pair of left and right vehicle width extension lines e1 and a 1 m guide line e2 as a distance guide line.
- switching from the rear prediction line g to the vehicle rear line e is performed by detecting that the vehicle 30 is along the parking area line W as described above.
- the driver moves the vehicle 30 rectilinearly while referring to the backward prediction line g, and positions the vehicle 30 at the parking target position.
- the third step corresponds to the linear receding step of the present invention.
- the ECU 10 determines that the guidance of the vehicle 30 has been completed when a predetermined time of 3 to 5 seconds elapses after the vehicle 30 is stopped. Then, the ECU 10 performs voice guidance such as “End guidance” via the speaker 23 and ends parking assistance.
- the backward prediction line g is superimposed and displayed among the backward prediction line g and the vehicle rear line e in the second step.
- the vehicle rear line e is superimposed and displayed among the rear prediction line g and the vehicle rear line e in the third step. That is, in the second step, it is necessary to move the vehicle 30 backward while adjusting the steering angle so that the vehicle follows the parking area line W, and the driver needs to grasp the relationship between the steering angle and the course of the vehicle.
- the index to be referred to is the backward prediction line g.
- the third step it is necessary to move the vehicle 30 backward while confirming that the vehicle 30 is within the parking area line W, and the index to be referred to is the vehicle rear line e. Therefore, as in this configuration, in the second step, only the rear prediction line g is superimposed on the rear prediction line g and the vehicle rear line e, and in the third step, the rear prediction line g and the vehicle rear line e. By displaying only the vehicle rear line e in a superimposed manner, an index to be referred to becomes clear. As a result, driving operation support can be performed effectively.
- FIG. 22 shows a display screen of the monitor 20 when the vehicle 30 is in the state of FIG.
- a vehicle rear line e is displayed, and then when the steering angle is returned to neutral, the rear prediction line g
- the process of deleting is performed.
- the present invention can be used for a parking assistance device that assists the driving operation of the driver when the vehicle is parked.
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Abstract
Description
また、車両の周辺画像に重畳表示するため、不要な指標が周辺画像を覆い隠し、車両の周辺画像を視認しにくくする場合があった。
これらの課題は、指標を運転者に視認させやすくするために、例えば指標の線を太くするなど、指標を強調するほど顕著になる。 However, in the parking assistance device described above, indicators that are not always necessary depending on the progress of parking driving are also displayed in a superimposed manner. For this reason, there is an excessive amount of information given to the driver, it is difficult to recognize an index to be noticed, and driving operation support is not always effectively performed.
In addition, since it is displayed superimposed on the surrounding image of the vehicle, an unnecessary index sometimes obscures the surrounding image, making it difficult to visually recognize the surrounding image of the vehicle.
These issues become more prominent as the index is emphasized, for example, by thickening the line of the index in order to make the index easily visible to the driver.
以下、本発明の実施形態を図面に基づいて説明する。図1及び図2は車両30の基本構成を示したものである。運転席に備えられたステアリング24は、パワーステアリングユニット33と連動し、回転操作力を前輪28fに伝えて車両30の操舵を行う。前輪28fは本発明の操舵輪に相当する。車体前部にはエンジン32と、このエンジン32からの動力を変速して前輪28fや後輪28rに伝えるトルクコンバータやCVT等を有する変速機構34とが配置されている。車両30の駆動方式(前輪駆動、後輪駆動、四輪駆動)に応じて、前輪28f及び後輪28rの双方もしくは何れかに動力が伝達される。運転席の近傍には走行速度を制御するアクセル操作手段としてのアクセルペダル26と、前輪28f及び後輪28rのブレーキ装置31を介して前輪28f及び後輪28rに制動力を作用させるブレーキペダル27とが並列配置されている。 [First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 show the basic configuration of the
車両30を後退させることによって縦列駐車を行うため、運転者は、駐車スペースEが車両30の後方に設置されたカメラ12の撮影範囲Fに入るまで車両30を前進させ、停止させる。車両30を図3に示した後退開始位置P2に一致させて停止することは困難である。従って、はじめに後退開始位置P2を超えて前進し、駐車支援装置を起動させた後、図5(a)に示す指標a(垂直指標)を参照して後退開始位置P2まで車両30を後退させる。 [First step]
In order to perform parallel parking by moving the
運転者は、車両30を後退開始位置P2に停車させたままでステアリング24を操作して、図5(b)に示す指標c(駐車領域線)が駐車スペースEに収まるように移動させ、駐車目標位置P4を設定する。同時にこのステアリング24の操作により、操舵輪である前輪28fには縦列駐車を開始する際の舵角が設定される。 [Second step]
The driver operates the
運転者は、図5(c)に示すように、指標d(切り返し線)を参照しながら、第2工程で設定した舵角を保持して車両30を後退させる。また、後述する図5(d)は、車両30が第2工程で設定した舵角を保持して行う後退を完了した時点又は完了する頃、即ち切り返し位置P3又はその近辺に達した状態を示している。図5(c)は、後退開始位置P2と切り返し位置P3との間で運転者が車両30を後退させる運転操作を伴う工程を示している。 [Third step]
As shown in FIG. 5C, the driver holds the rudder angle set in the second step and moves the
運転者は、切り返し線dを参照しながら第2工程で設定した舵角を保持して、図5(d)に示すように所定位置(切り返し位置P3)まで後退すると、車両30を停止させる。具体的には、切り返し線dが駐車領域線cの奥側、即ち路肩に達する位置まで後退すると、運転者はブレーキペダル27を踏んで車両30を停止させる。ここで、第3工程及び第4工程は、本発明の第1旋回工程に相当する。 [Fourth step]
The driver holds the rudder angle set in the second step while referring to the turning line d, and stops the
運転者は、第4工程で停止した位置(切り返し位置P3)において、車両30を停車させたままでステアリング14を操作し、図5(e)に示すように逆方向へほぼ最大舵角となるまで切り返しを行う。即ち、縦列駐車の切り返し後の舵角を設定する。操舵輪である前輪28fには切り返し後の舵角が設定される。
運転者は、設定した舵角を保持して、後方予測線gを参照しながら車両30を後退させる。運転者は、図5(f)に示すように指標e(車両後方線)が駐車スペースEとほぼ平行となったことを確認すると、車両30を停止させる。つまり、駐車目標位置P4に達すると、運転者は車両30を停止させる。ここで、第5工程は、本発明の第2旋回工程に相当する。
ここで、後方予測線gは、車両30の進行が予測される方向に伸びるものであるが、車両30の進行が予測される方向とは、例えばステアリング24の操舵角度で求めることができる。 [Fifth step]
The driver operates the
The driver holds the set steering angle and moves the
Here, the backward prediction line g extends in the direction in which the
上記第1実施形態においては、縦列駐車の駐車支援を行う駐車支援装置を例として説明した。しかし、本発明は、並列駐車の駐車支援を行う駐車支援装置にも適用することができる。以下、本実施形態に係る駐車支援装置により案内される並列駐車の手順について説明する。 [Second Embodiment]
In the said 1st Embodiment, it demonstrated as an example the parking assistance apparatus which performs parking assistance of parallel parking. However, the present invention can also be applied to a parking assistance device that performs parking assistance for parallel parking. Hereinafter, the parallel parking procedure guided by the parking assistance apparatus according to the present embodiment will be described.
図17(a)は、第1工程を示す工程図であり、図18は第1工程におけるモニタ20を示す図である。車両30を後退させることによって車庫入れ駐車を行うため、運転者は、駐車スペースEが車両30の後方に設置されたカメラ12の撮影範囲Fに入るように、斜め前方へ車両30を前進させ、停止させる。この際、好適には車両30の操舵角が中立位置に戻されているとよい。 [First step]
FIG. 17A is a process diagram showing the first process, and FIG. 18 is a diagram showing the
シフトレバー25がリバースに変更されると第1工程を終了して第2工程に移行する。図17(b)は第2工程を示す工程図であり、図19は第2工程におけるモニタ20を示す図である。第2工程において、後方予測線gが周辺画像に重畳される。後方予測線gは、上述したように、後退する車両30の舵角に応じた車両30の後端予測軌跡などを示す指標である。運転者は、後方予測線gを参照しつつ、ステアリング24の操舵を行い、車両を旋回させつつ後退させ、車両30を駐車領域線Wに沿わせる。図19は、ステアリング24を操舵した後のモニタ20を示しており、後方予測線gは大きく湾曲した状態で描画される。ここで、第2工程は、本発明の旋回後退工程に相当する。 [Second step]
When the
Claims (6)
- 車載の撮影装置により撮影された車両の周辺画像を取得する画像取得部と、
車室内に設けられ、前記周辺画像を表示させる画像表示部と、
運転者による駐車操作の際に、運転者を案内するべく、前記車両の後方に伸びる左右一対の車幅延長線を含む指標を前記周辺画像に重畳表示させる指標出力部とを備え、
旋回しつつ後退して前記車両を駐車領域に侵入させる第1旋回工程と当該第1旋回工程とは反対側に旋回しつつ前記車両を縦列方向に沿わせる第2旋回工程とを行う縦列駐車を支援するに際し、前記第2旋回工程においては、前記指標出力部が前記左右一対の車幅延長線のうち旋回外側の車幅延長線のみを重畳表示する駐車支援装置。 An image acquisition unit for acquiring a peripheral image of the vehicle imaged by the in-vehicle imaging device;
An image display unit provided in a passenger compartment and displaying the surrounding image;
An index output unit that superimposes and displays an index including a pair of left and right vehicle width extension lines extending rearward of the vehicle to guide the driver during a parking operation by the driver;
Parallel parking is performed in which a first turning step for reversing while turning and the vehicle enters the parking area and a second turning step for turning the vehicle along the column direction while turning to the opposite side of the first turning step are performed. When assisting, in the second turning step, the indicator output unit superimposes and displays only the vehicle width extension line outside the turn of the pair of left and right vehicle width extension lines. - 車載の撮影装置により撮影された車両の周辺画像を取得する画像取得部と、
車室内に設けられ、前記周辺画像を表示させる画像表示部と、
運転者による駐車操作の際に、運転者を案内するべく、前記車両の後方に伸びる車幅延長線及び車両の進行が予測される方向に伸びる後方予測線とを含む指標を前記周辺画像に重畳表示させる指標出力部とを備え、
旋回しつつ後退して前記車両を並列方向に沿わせる旋回後退工程と、直線的に後退して前記車両を駐車領域に侵入させる直線後退工程とを行う並列駐車を支援するに際し、指標出力部が、前記旋回後退工程においては前記後方予測線と前記車幅延長線のうち前記後方予測線のみを重畳表示し、前記直線後退工程においては前記後方予測線と前記車幅延長線のうち前記車幅延長線のみを重畳表示する駐車支援装置。 An image acquisition unit for acquiring a peripheral image of the vehicle imaged by the in-vehicle imaging device;
An image display unit provided in a passenger compartment and displaying the surrounding image;
In order to guide the driver during a parking operation by the driver, an index including a vehicle width extension line extending rearward of the vehicle and a rear prediction line extending in a direction in which the vehicle travel is predicted is superimposed on the surrounding image. An indicator output unit for displaying,
When assisting parallel parking, which performs a reversing step of turning backward while turning and moving the vehicle along the parallel direction, and a linear retreating step of receding linearly and causing the vehicle to enter the parking area, an index output unit is provided. In the turning and retreating step, only the rear prediction line of the rear prediction line and the vehicle width extension line is superimposed and displayed, and in the linear retraction step, the vehicle width of the rear prediction line and the vehicle width extension line is displayed. Parking support device that displays only extension lines in a superimposed manner - 前記指標出力部が前記車両の操舵角度に基づいて重畳表示する指標の切り替えを行う請求の範囲第1項又は第2項に記載の駐車支援装置。 The parking support device according to claim 1 or 2, wherein the index output unit switches an index to be superimposed and displayed based on a steering angle of the vehicle.
- 前記指標出力部が、前記車両と駐車領域を区画する駐車領域線との相対角度に基づいて、前記後方予測線と前記車幅延長線との表示を切り替える請求の範囲第2項に記載の駐車支援装置。 The parking according to claim 2, wherein the indicator output unit switches the display between the rear prediction line and the vehicle width extension line based on a relative angle between the vehicle and a parking area line that partitions the parking area. Support device.
- 前記指標出力部は、前記左右一対の車幅延長線のうち旋回内側の車幅延長線を重畳表示しない請求の範囲第1項に記載の駐車支援装置。 The parking support device according to claim 1, wherein the index output unit does not superimpose a vehicle width extension line on the inside of a turn among the pair of left and right vehicle width extension lines.
- 前記指標出力部は、前記旋回外側の車幅延長線に加え、車両の進行が予測される方向に伸びる後方予測線を重畳表示する請求の範囲第1項に記載の駐車支援装置。 The parking support device according to claim 1, wherein the indicator output unit superimposes and displays a backward prediction line extending in a direction in which the vehicle is predicted to travel in addition to the vehicle width extension line outside the turn.
Priority Applications (3)
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EP09758187.0A EP2281722B1 (en) | 2008-06-03 | 2009-05-08 | Parking support device |
CN200980110344.5A CN101977797B (en) | 2008-06-03 | 2009-05-08 | Parking support device |
US12/934,002 US8907815B2 (en) | 2008-06-03 | 2009-05-08 | Parking support device |
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JP2008-146096 | 2008-06-03 | ||
JP2008146096A JP5429514B2 (en) | 2008-06-03 | 2008-06-03 | Parking assistance device |
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PCT/JP2009/058688 WO2009147920A1 (en) | 2008-06-03 | 2009-05-08 | Parking support device |
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US (1) | US8907815B2 (en) |
EP (1) | EP2281722B1 (en) |
JP (1) | JP5429514B2 (en) |
KR (1) | KR20100120693A (en) |
CN (1) | CN101977797B (en) |
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CN101977797A (en) | 2011-02-16 |
EP2281722B1 (en) | 2016-02-17 |
KR20100120693A (en) | 2010-11-16 |
JP5429514B2 (en) | 2014-02-26 |
US20110102196A1 (en) | 2011-05-05 |
EP2281722A4 (en) | 2011-07-20 |
US8907815B2 (en) | 2014-12-09 |
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JP2009292228A (en) | 2009-12-17 |
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